In the early 2000's, Francis would mock a variety of celebrities including David while wearing a rubber mask but later apologised for the offensive caricatures.
Appearing on BBC Breakfast to discuss his latest album 22, David was asked about the impersonation and Francis' apology which happened in 2020.
Watch: Singer Craig David speaks about being 'bullied and ridiculed' on national TV
He revealed he wasn't won over by Francis' public apology: "I don't know how sincere, it seems a bit of a coincidence, it comes at a time of George Floyd has been killed. To then have the Black Lives Matter movement, protests around the world and then it comes at a time as a reaction of 'I should say my piece' for something that should never have gone there."
He added: "In terms of ever putting a mask on and black facing which it was, and just being accountable, the coincidence of it just felt too timely."
David also talked about his original reaction to the skits: "I didn't know why a song like 'Rewind' which was a cultural song that broke the ice for so many artists to come through, was now being ridiculed.That was one thing that I placed it as a music thing. But actually what he was doing was slowly bullying not only myself but Mel B, Trisha, and I felt there was no real accountability at that time and I was young, between a rock and a hard place."
But David did say he didn't hold a grudge against Francis, who is best known for his character Keith Lemon: "It is about accountability, I haven't got a grudge, it is more the fact of accountability "
David recently released his eighth solo album 22 to celebrate 22 years since the release of his debut Born to Do It.
The two-time Grammy winner has sold over 15 million records worldwide.